EP2924458A3 - Method for detecting and displaying artificial obstacles of a rotary-wing aircraft - Google Patents

Method for detecting and displaying artificial obstacles of a rotary-wing aircraft Download PDF

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Publication number
EP2924458A3
EP2924458A3 EP15000825.8A EP15000825A EP2924458A3 EP 2924458 A3 EP2924458 A3 EP 2924458A3 EP 15000825 A EP15000825 A EP 15000825A EP 2924458 A3 EP2924458 A3 EP 2924458A3
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EP
European Patent Office
Prior art keywords
ground
mesh
elementary
detecting
pad
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP15000825.8A
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German (de)
French (fr)
Other versions
EP2924458A2 (en
EP2924458B1 (en
Inventor
Marianne Gillet
François-Xavier Filias
Richard Pire
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Airbus Helicopters SAS
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Airbus Helicopters SAS
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Priority to PL15000825T priority Critical patent/PL2924458T3/en
Publication of EP2924458A2 publication Critical patent/EP2924458A2/en
Publication of EP2924458A3 publication Critical patent/EP2924458A3/en
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Publication of EP2924458B1 publication Critical patent/EP2924458B1/en
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Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G06V20/17—Terrestrial scenes taken from planes or by drones
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/04—Anti-collision systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/933—Lidar systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0017—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information
    • G08G5/0021—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information located in the aircraft
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G06T2207/30261—Obstacle

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Traffic Control Systems (AREA)
  • Elimination Of Static Electricity (AREA)

Abstract

L'invention concerne un procédé de détection et de visualisation du sol et des obstacles à partir d'un moyen de détection (9) embarqué à bord d'un véhicule (8), ledit moyen de détection (1) envoyant en direction du sol des signaux de mesures et recevant une pluralité de plots élémentaires (Pe). Ledit procédé permet tout d'abord de mailler ledit sol selon un plan horizontal, chaque maille sol (Ms(i,j)) étant formé par un plot élémentaire (Pe) ayant une altitude minimale (Zmin(i,j)) et chaque autre plot élémentaire (Pe) correspondant à ladite maille sol (Ms(i,j)) et ayant une altitude (Zn(i,j)) différente formant alors un plot obstacle (Pon(i,j)). Chaque plot élémentaire (Pe) nouvellement reçu est ensuite comparé avec ladite maille sol (Ms(i,j)) correspondante et traité selon son altitude (Zn(i,j)). Enfin, on affiche sur un moyen de visualisation (5) lesdites mailles sol (Ms(i,j)) et/ou lesdits plots obstacles (Pon(i.j)) afin d'indiquer au pilote dudit véhicule (8) les obstacles potentiels hors sol.

Figure imgaf001
The invention relates to a method for detecting and visualizing the ground and obstacles from detection means (9) on board a vehicle (8), said detection means (1) sending towards the ground measurement signals and receiving a plurality of elementary pads (Pe). Said method first makes it possible to mesh said ground in a horizontal plane, each ground mesh (Ms (i, j)) being formed by an elementary pad (Pe) having a minimum altitude (Zmin (i, j)) and each another elementary pad (Pe) corresponding to said ground mesh (Ms (i, j)) and having a different altitude (Z n (i, j)) then forming an obstacle pad (Po n (i, j)). Each newly received elementary block (Pe) is then compared with said corresponding ground mesh (Ms (i, j)) and processed according to its altitude (Z n (i, j)). Finally, the said ground meshes (Ms (i, j)) and / or the said obstacle blocks (Po n (ij)) are displayed on a display means (5) in order to indicate to the driver of the said vehicle (8) the potential obstacles. Aboveground.
Figure imgaf001
EP15000825.8A 2014-03-28 2015-03-20 Method for detecting and displaying artificial obstacles of a rotary-wing aircraft Active EP2924458B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL15000825T PL2924458T3 (en) 2014-03-28 2015-03-20 Method for detecting and displaying artificial obstacles of a rotary-wing aircraft

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1400762A FR3019361B1 (en) 2014-03-28 2014-03-28 METHOD FOR DETECTING AND VISUALIZING ARTIFICIAL OBSTACLES IN A ROTARY WING AIRCRAFT

Publications (3)

Publication Number Publication Date
EP2924458A2 EP2924458A2 (en) 2015-09-30
EP2924458A3 true EP2924458A3 (en) 2015-11-11
EP2924458B1 EP2924458B1 (en) 2017-07-19

Family

ID=51518807

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15000825.8A Active EP2924458B1 (en) 2014-03-28 2015-03-20 Method for detecting and displaying artificial obstacles of a rotary-wing aircraft

Country Status (4)

Country Link
US (1) US9401093B2 (en)
EP (1) EP2924458B1 (en)
FR (1) FR3019361B1 (en)
PL (1) PL2924458T3 (en)

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WO2017191277A1 (en) * 2016-05-06 2017-11-09 Here Global B.V. Stitching mixed-version map tiles in hybrid navigation for partial map updates
US10101746B2 (en) * 2016-08-23 2018-10-16 Delphi Technologies, Inc. Automated vehicle road model definition system
CN110426714B (en) * 2019-07-15 2021-05-07 北京智行者科技有限公司 Obstacle identification method

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Also Published As

Publication number Publication date
US20150279219A1 (en) 2015-10-01
EP2924458A2 (en) 2015-09-30
PL2924458T3 (en) 2017-11-30
FR3019361B1 (en) 2017-05-19
FR3019361A1 (en) 2015-10-02
US9401093B2 (en) 2016-07-26
EP2924458B1 (en) 2017-07-19

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